typedef struct
{
	float p;
	float i;
	float d;
	float si;
	unsigned char PWMoffset;
}t_coef;

typedef struct
{
	float consigne;
	float mesure;
	float commande;
	float erreur;
	t_coef coef;
	float erreurPrec;
	float erreurI;
}t_pid;

void pidInit( t_pid * parPtrPidStruct, float parP, float parI, float parD, float parSI, unsigned char parPwmOffset);
void pidCalcul( t_pid * parPtrPid);
